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1. 发明申请

WO2011154034A1 AN INDUSTRIAL ROBOT INCLUDING A TOOL FLANGE AND A TOOL FLANGE FOR AN INDUSTRIAL ROBOT 审中-公开
标题翻译：工业机器人，包括工具法兰和工业机器人工具法兰
公开(公告)号：WO2011154034A1
公开(公告)日：2011-12-15
申请号：PCT/EP2010/057951
申请日：2010-06-08
申请人： ABB RESEARCH LTD , SIRKETT, Daniel , LARSSON, Jan
发明人： SIRKETT, Daniel , LARSSON, Jan
IPC分类号： B25J15/04 , B25J19/00
CPC分类号： B25J15/04 , B25J19/0029
摘要： The invention relates to a tool flange (1 ) arranged on an arm of an industrial robot for connecting a tool to the arm. The tool flange (1 ) comprises a body (2) having a primary surface (3) adapted to connect to the tool. Further, the tool flange (1 ) comprises a protrusion (5) projecting from the primary surface (3), and arranged to engage with a recess arranged in the tool to provide rotational alignment between the tool and the tool flange (1 ). The tool flange (1 ) is provided with a through-hole stretching through the protrusion (5) and the body (2), and adapted to receive a tube (8) arranged for distributing process media to the tool, and to connect to a corresponding process media connection arranged on the tool.
摘要翻译：本发明涉及一种布置在工业机器人的臂上的工具法兰（1），用于将工具连接到臂上。工具凸缘（1）包括具有适于连接到工具的主表面（3）的主体（2）。此外，工具凸缘（1）包括从主表面（3）突出的突起（5），并且布置成与布置在工具中的凹部接合以在工具和工具凸缘（1）之间提供旋转对准。工具凸缘（1）设置有穿过突起（5）和主体（2）延伸的通孔，并且适于接收布置成用于将工艺介质分配到工具的管（8），并且连接到相应的工艺介质连接布置在工具上。

2. 发明申请

WO2011107143A1 A ROBOT WRIST 审中-公开
标题翻译：机器人手表
公开(公告)号：WO2011107143A1
公开(公告)日：2011-09-09
申请号：PCT/EP2010/052578
申请日：2010-03-02
申请人： ABB RESEARCH LTD , SIRKETT, Daniel , LUNDBERG, Ivan , LARSSON, Jan
发明人： SIRKETT, Daniel , LUNDBERG, Ivan , LARSSON, Jan
IPC分类号： B25J19/00
CPC分类号： B25J9/0009 , B25J17/0283 , B25J19/0029 , B25J19/0091
摘要： The invention relates to a robot wrist (2) including an inner wrist part (6) and at least one manoeuvre connection means (12, 13). According to the invention, the inner wrist part (6) includes solid-shaft transmission components. The wrist further includes an outer shroud (8a, 8b). The manoeuvre connection means (12, 13) is arranged inside the outer shroud (8a, 8b). The invention also relates to an industrial robot (101) including such a wrist.
摘要翻译：本发明涉及一种包括内腕部（6）和至少一个机动连接装置（12,13）的机器人手腕（2）。根据本发明，内腕部（6）包括实心轴传动部件。手腕还包括外护罩（8a，8b）。机动连接装置（12,13）布置在外护罩（8a，8b）的内部。本发明还涉及包括这种手腕的工业机器人（101）。

3. 发明申请

WO2012010332A1 INDUSTRIAL ROBOT WITH A COLLAPSIBLE PROCESS FORCE APPLICATOR 审中-公开
标题翻译：具有可伸缩过程强度的工业机器人
公开(公告)号：WO2012010332A1
公开(公告)日：2012-01-26
申请号：PCT/EP2011/051748
申请日：2011-02-07
申请人： ABB RESEARCH LTD , LUNDBERG, Ivan , SIRKETT, Daniel , LARSSON, Jan
发明人： LUNDBERG, Ivan , SIRKETT, Daniel , LARSSON, Jan
IPC分类号： B25J15/00 , B25J19/06
CPC分类号： B25J19/063 , B25J15/0019
摘要： An industrial robot comprises a collapsible process force applicator 200 with a housing 210, a tip 320, and a biasing mechanism for keeping the tip 320 in a first position in relation to the housing 210. For safety reasons, the tip 320 is configured to move away from the first position when a predetermined force on the tip 320 is exceeded. The collapsible process force applicator 200 is mounted downstream from the last axis, and it is positioned such that its actuation does not occasion a torque on the wrist axes of the robot.
摘要翻译：工业机器人包括具有壳体210的可折叠过程力施加器200，尖端320和用于将尖端320相对于壳体210保持在第一位置的偏置机构。为了安全起见，尖端320被配置为移动当超过尖端320上的预定力时远离第一位置。可折叠加工力施加器200安装在最后轴线的下游，并且其定位成使得其致动不会在机器人的手腕轴上产生扭矩。

4. 发明申请

WO2011047724A1 A ROBOT PART AND A METHOD FOR PROTECTING A ROBOT PART 审中-公开
标题翻译：机器人部件和保护机器人部件的方法
公开(公告)号：WO2011047724A1
公开(公告)日：2011-04-28
申请号：PCT/EP2009/063922
申请日：2009-10-22
申请人： ABB RESEARCH LTD , SIRKETT, Daniel , LUNDBERG, Ivan , VITTOR, Timothy
发明人： SIRKETT, Daniel , LUNDBERG, Ivan , VITTOR, Timothy
IPC分类号： B25J19/00
CPC分类号： B25J19/0091
摘要： The invention relates to a robot part (1, 2) such as a robot arm or a robot joint, surrounded by an impact absorbing structure. According to the invention, the impact absorbing structure has a shroud (3) surrounding the robot part (1, 2). The shroud (3) is mounted on two spacing elements (6, 8) such that an interspace is formed between the shroud (3) and the robot part (1, 2). At least one of the spacing elements (6, 8) mounts the shroud (3) elastically. The invention also relates to a method of protecting a robot part by providing the robot part with an impact absorbing structure according to the invention.
摘要翻译：本发明涉及一种由冲击吸收结构包围的诸如机器人手臂或机器人关节的机器人部件（1,2）。根据本发明，冲击吸收结构具有围绕机器人部分（1,2）的护罩（3）。护罩（3）安装在两个间隔元件（6,8）上，使得在护罩（3）和机器人部件（1,2）之间形成间隙。间隔元件（6,8）中的至少一个弹性地安装护罩（3）。本发明还涉及通过向机器人部件提供根据本发明的冲击吸收结构来保护机器人部件的方法。

5. 发明申请

WO2010091722A1 DUAL ARM ROBOT 审中-公开
标题翻译：双ARM机器人
公开(公告)号：WO2010091722A1
公开(公告)日：2010-08-19
申请号：PCT/EP2009/051551
申请日：2009-02-11
申请人： ABB RESEARCH LTD , TRANGÄRD, Arne , KULLBORG, Camilla , SIRKETT, Daniel , ANDERSSON, Hans , LUNDBERG, Ivan , WÄPPLING, Daniel
发明人： TRANGÄRD, Arne , KULLBORG, Camilla , SIRKETT, Daniel , ANDERSSON, Hans , LUNDBERG, Ivan , WÄPPLING, Daniel
IPC分类号： B25J9/00 , B25J9/16
CPC分类号： B25J9/009 , B25J9/0087 , B25J9/1682 , G05B2219/39109
摘要： The invention relates to an industrial robot having two arms (1, 2). According to the invention at least one of the arms includes abutment means (11, 12) arranged to abut the other arm.
摘要翻译：本发明涉及具有两个臂（1,2）的工业机器人。根据本发明，至少一个臂包括邻接装置（11,12），该邻接装置被布置成邻接另一个臂。

6. 发明申请

WO2013104417A1 AN INDUSTRIAL ROBOT FOR HIGH PAYLOAD 审中-公开
标题翻译：一个工业机器人高负载
公开(公告)号：WO2013104417A1
公开(公告)日：2013-07-18
申请号：PCT/EP2012/050361
申请日：2012-01-11
申请人： ABB RESEARCH LTD , TRANGÄRD, Arne , SIRKETT, Daniel , WÄPPLING, Daniel , SPUTLAK, David , ZELAYA DE LA PARRA, Hector , WESTRÖM, Jakob , THULIN, Mats , THORS, Tommy , FENG, Xiaolong , OLSSON, Mats
发明人： TRANGÄRD, Arne , SIRKETT, Daniel , WÄPPLING, Daniel , SPUTLAK, David , ZELAYA DE LA PARRA, Hector , WESTRÖM, Jakob , THULIN, Mats , THORS, Tommy , FENG, Xiaolong , OLSSON, Mats
IPC分类号： B25J9/04
CPC分类号： B25J9/046
摘要： The invention relates to an industrial robot having a plurality of frame parts (1-7) that are movable in relation to each other and a plurality of joints (8-13). The joints include pivot joints (8-13) providing a pivotal movement around joint axes (A1-A6) that are connected by the respective pivot joint (8-13). At least one of said pivot joints (8-13) is unitarily driven by first and second drive means. Each drive means includes a motor (21a, 21b, 31a, 31b) and a gearbox (22a, 22b, 32a, 32b). The drive means are arranged to solely actuate movement around a single joint axis (A2, A3). According to the invention the first and the second drive means are arranged symmetrically in relation to a plane perpendicular to the joint axis (A2, A3) in order to mitigate the problem of uneven heat distribution at the respective joint.
摘要翻译：本发明涉及一种具有可相对移动的多个框架部件（1-7）和多个接头（8-13）的工业机器人。接头包括枢转接头（8-13），其通过相应的枢转接头（8-13）连接的围绕接合轴线（A1-A6）提供枢转运动。所述枢转接头（8-13）中的至少一个由第一和第二驱动装置整体驱动。每个驱动装置包括马达（21a，21b，31a，31b）和齿轮箱（22a，22b，32a，32b）。驱动装置被布置成仅围绕单个关节轴线（A2，A3）致动运动。根据本发明，第一和第二驱动装置相对于垂直于接头轴线（A2，A3）的平面对称地布置，以便减轻各个接头处的不均匀分布的问题。

7. 发明申请

WO2011107144A1 A SYSTEM FOR ELECTRICALLY CONNECTING A TOOL TO A ROBOT WRIST AND A METHOD THEREFOR 审中-公开
标题翻译：一种用于将工具电连接到机器手表的系统及其方法
公开(公告)号：WO2011107144A1
公开(公告)日：2011-09-09
申请号：PCT/EP2010/052579
申请日：2010-03-02
申请人： ABB RESEARCH LTD , SIRKETT, Daniel , NÅHLS, Jan-Erik
发明人： SIRKETT, Daniel , NÅHLS, Jan-Erik
IPC分类号： B25J15/04
CPC分类号： B25J15/04 , B25J19/0029
摘要： The invention relates to a system for electrically connecting a tool to a robot wrist. The system includes a first component being a tool flange (5) arranged for rotation around a robot axis, and a second component, which includes an electric cabling and a connector (23) permanently connected to each other. The connector (23) has a plurality of poles (21) and the electric cabling includes a plurality of conductors. Each conductor is permanently connected to a respective pole (21). The tool flange (5) and the connector (23) are mutually adapted for attaching the connector (23) to the tool flange (5). According to the invention the tool flange (5) has eccentric mounting means (29a, 29b) arranged for eccentric attachment of the connector (23) on the tool flange (5). The invention also relates to the components of the system, to a wrist including the system and to an industrial robot provided with such a wrist. The invention also relates to a method for establishing electric connection through a plurality of conductors to a tool flange of a wrist of an industrial robot. The method is based on the use of a system according to the invention.
摘要翻译：本发明涉及一种用于将工具电连接到机器人手腕的系统。该系统包括第一部件，其是布置成围绕机器人轴线旋转的工具凸缘（5），以及包括彼此永久连接的电缆和连接器（23）的第二部件。连接器（23）具有多个极（21），并且电缆包括多个导体。每个导体永久地连接到相应的极（21）。工具凸缘（5）和连接器（23）相互适于将连接器（23）附接到工具凸缘（5）。根据本发明，工具凸缘（5）具有偏心安装装置（29a，29b），用于将连接器（23）偏心地安装在工具凸缘（5）上。本发明还涉及系统的部件，涉及包括该系统的手腕以及设置有该腕部的工业机器人。本发明还涉及一种用于建立通过多个导体到工业机器人手腕的工具凸缘的电连接的方法。该方法基于使用根据本发明的系统。

8. 发明申请

WO2013113367A1 METHOD AND SYSTEM FOR FEEDING COMPONENTS 审中-公开
标题翻译：送料组件的方法和系统
公开(公告)号：WO2013113367A1
公开(公告)日：2013-08-08
申请号：PCT/EP2012/051502
申请日：2012-01-31
申请人： ABB RESEARCH LTD , SIRKETT, Daniel , TRANGÄRD, Arne , LUNDBERG, Ivan , MACKENZIE, Ryan , JABER, André
发明人： SIRKETT, Daniel , TRANGÄRD, Arne , LUNDBERG, Ivan , MACKENZIE, Ryan , JABER, André
IPC分类号： B65G47/14
CPC分类号： B65G47/19 , B65G47/1478
摘要： A component feeder (10) comprises a lift (50) for elevating a selection of components (30) from a bulk storage, and a pick surface (100) adjacent to the lift (50) for receiving the selection of components (30). A spreader (80) gives the selection of components (30) a push for spreading the selection of components (30) from the lift (50) on the pick surface (100). The combination of a vertical lift (50) and a separate pick surface (100) adjacent to the lift (50) enables the bulk storage being positioned right below the pick surface (100). The area of the pick surface (100) is large in relation to the total footprint of the component feeder (10).
摘要翻译：部件进给器（10）包括用于从大容量存储器升高部件（30）的选择的升降机（50）和邻近升降机（50）的拾取表面（100），用于接收部件（30）的选择。扩展器（80）给出部件选择（30），用于从拾取表面（100）上的升降机（50）扩展部件（30）的选择。与升降机（50）相邻的垂直升降机（50）和单独的拾取表面（100）的组合使得大容量存储器位于拾取表面（100）正下方。拾取表面（100）的面积相对于部件供给器（10）的总占地面积很大。

9. 发明申请

WO2010000302A1 HARMONIC FRICTION DRIVE 审中-公开
标题翻译：和谐摩擦驱动
公开(公告)号：WO2010000302A1
公开(公告)日：2010-01-07
申请号：PCT/EP2008/058399
申请日：2008-06-30
申请人： ABB RESEARCH LTD , SIRKETT, Daniel , LUNDBERG, Ivan
发明人： SIRKETT, Daniel , LUNDBERG, Ivan
IPC分类号： F16H49/00
CPC分类号： F16H19/001 , F16H2049/003
摘要： A harmonic traction drive (1) comprising a wave generator (4) connected to an input shaft (6), a fixed and circular spline (3), and a flex spline ( 2) connected to an output shaft (7) arranged to obtain a speed reduction. The wave generator (4) comprises a rotating carrier (5) arranged with at least one high-strength magnetic means (12) and the flex spline (2) comprises a magnetic part (11). The rotating carrier (5) and the flex spline (2) are arranged such that the magnetic means (12) and the magnetic part (11) of the flex spline (2) are situated on one side each of the fixed and circular spline (3). During operation, the magnetic part (11) of the flex spline (2) is deformed into frictional engagement with the circular spline (3) in at least one zone of contact (8). In this manner a 'traveling wave' is set up in the flex spline.
摘要翻译：一种谐波牵引驱动装置（1），包括连接到输入轴（6）的波浪发生器（4），固定和圆形花键（3）以及连接到输出轴（7）的挠曲花键（2）减速。波发生器（4）包括设置有至少一个高强度磁性装置（12）的旋转载体（5），并且所述挠曲花键（2）包括磁性部分（11）。旋转载体（5）和柔性花键（2）被布置成使得柔性花键（2）的磁性装置（12）和磁性部分（11）位于固定和圆形花键的一侧 3）。在操作期间，柔性花键（2）的磁性部分（11）在至少一个接触区域（8）中变形成与圆形花键（3）摩擦接合。以这种方式，在柔性花键中设置“行波”。

10. 发明申请

WO2009071604A1 HARMONIC MOTOR 审中-公开
标题翻译：谐波电机
公开(公告)号：WO2009071604A1
公开(公告)日：2009-06-11
申请号：PCT/EP2008/066743
申请日：2008-12-04
申请人： ABB RESEARCH LTD , LUNDBERG, Ivan , SIRKETT, Daniel , KOCK, Sönke
发明人： LUNDBERG, Ivan , SIRKETT, Daniel , KOCK, Sönke
IPC分类号： F16H49/00 , H01L41/09
CPC分类号： F16H49/001 , H01L41/193 , H02N2/105
摘要： The invention relates to a harmonic motor (1) comprising a fixed circular and internally geared stator (2), a flex spline coaxially arranged within the stator (2) where the flex spline (3) comprises both external (9) and internal gears (10), and a geared output shaft (4) coaxially arranged within the flex spline (3). The motor further comprises means for sequentially deforming the flex spline (3) into an ellipse shape internally meshing the output shaft. The number of teeth on the stator equals the external teeth on the flex spline such that the flex spline meshes at two lobes of the ellipse shape where every tooth on the flex spline meshes with the same counterpart tooth on the stator.
摘要翻译：本发明涉及一种谐波电动机（1），其包括固定的圆形和内部齿轮定子（2），同轴地布置在定子（2）内的挠曲花键，其中所述挠曲花键（3）包括外部（9）和内部齿轮 10）和同轴地布置在所述挠曲花键（3）内的齿轮输出轴（4）。电动机还包括用于将柔性花键（3）顺序地变形成在内部啮合输出轴的椭圆形状的装置。定子上的齿数等于挠曲花键上的外齿，使得挠曲花键在椭圆形的两个凸角处啮合，其中，挠曲花键上的每个齿与定子上的相同的对应齿啮合。

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